Name
Abstract | ||
|---|---|---|
We consider the problem of metrically reconstructing a scene viewed by a moving stereo head. The head comprises two cameras with coplanar optical axes arranged on a lateral rig, each camera being free to vary its angle of vergence. Under various constraints, we derive novel explicit forms for the epipolar equation, and show that a static stereo head constitutes a degenerate camera configuration for carrying out self-calibration. The situation is retrieved by consideration of a stereo head undergoing ground plane motion, and new closed-form solutions for self-calibration are derived. An error analysis reveals that reconstruction is adversely affected by inward-facing camera vergence angles that are similar in value, and by a principal point location whose horizontal component is in error. It is also shown that the adoption of domain-specific robust techniques for computation of the fundamental matrix can significantly improve the quality of scene reconstruction. Experiments conducted with dynamic stereo head images confirm that avoidance of near-degenerate configurations and use of robustness techniques are essential if reliable reconstructions are to be attained. |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1016/S0262-8856(98)00064-X | Image and Vision Computing |
Keywords | Field | DocType |
Self-calibration,Metric reconstruction,Stereo head,Degeneracy,Epipolar equation,Fundamental matrix,Ego-motion | Iterative reconstruction,Computer vision,Stereo camera,Epipolar geometry,Image processing,Robustness (computer science),Artificial intelligence,Motion estimation,Mathematics,Fundamental matrix (computer vision),Computer stereo vision | Journal |
Volume | Issue | ISSN |
16 | 14 | 0262-8856 |
Citations | PageRank | References |
13 | 1.03 | 14 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| M.J. Brooks | 1 | 13 | 1.03 |
| Lourdes Agapito | 2 | 1119 | 56.35 |
| D.Q. Huynh | 3 | 81 | 7.07 |
| L. Baumela | 4 | 15 | 1.59 |